Robotic Source Detection Device And Method

ABSTRACT

An autonomous robotic vehicle is capable of detecting, identifying, and locating the source of gas leaks such as methane. Because of the number of operating components within the vehicle, it may also be considered a robotic system. The robotic vehicle can be remotely operated or can move autonomously within a jobsite. The vehicle selectively deploys a source detection device that precisely locates the source of a leak. The vehicle relays data to stakeholders and remains powered that enables operation of the vehicle over an extended period. Monitoring and control of the vehicle is enabled through a software interface viewable to a user on a mobile communications device or personal computer.

FIELD OF THE INVENTION

The invention relates to detecting, locating and reporting gas leaks atindustrial locations, and more particularly, to a device, system, andmethod for the detection and reporting of methane leaks at industriallocations such as oil and gas production wells, storage tanks,pipelines, and transport of oil and gas resources through pipedistribution networks.

BACKGROUND OF THE INVENTION

Methane gas is a pollutant that is attributed to global warming andother maladies. A significant percentage of methane gas emissionsoriginate from oil and gas facilities. As a consequence of known methanegas emissions, regulatory requirements have increased thereby makingproductions in methane gas emissions important from not only aregulatory concern, but also as a general environmental concern.

One known method for detection of methane leaks is the use of infrared(IR) cameras that are used to generate images which can reveal sourcesof methane leaks. Because methane gas quickly distributes through thesurrounding atmosphere, the mere presence of methane gas at an oil andgas facility does not pinpoint the location of the leak. In order topinpoint methane leaks, attempts have been made to deploy stationary IRcameras at various locations within a site, but at a prohibitive costbecause high-quality IR cameras are expensive. More recent attempts havebeen made to deploy IR cameras on a movable platform, such as an aerialvehicle.

One example of a US patent reference that discloses a remote system forgas leak detection is the U.S. Pat. No. 10,704,981. This referenceteaches a scanning system for producing a concentration map of a leakinggas. A tunable light source is used to adjust its wavelength over theabsorption band of the gas of interest. The system includes the tunedlight source, a lightweight mirror to scan the light, a lightweightcollection optic, an array of detectors to measure reflected light, oneor more processors configured to align the scanning with the detectedsignal and analyze the signal to produce a path averaged concentrationmap of the leaking gas. The processors are configured to use ananalytical model of plume dynamics to compare the detected concentrationmap and calculate leak location and rate. A flying unmanned vehicle canbe used to carry sensors in order to detect and collect gas data toproduce the concentration map.

Another reference that teaches the use of IR cameras on a mobileplatform for detection of gas leaks is the U.S. Pat. No. 10,113,956.This references discloses a system to remotely detect gas leakage by useof a mobile platform that carries two light sources: a mid-infrared(mid-IR) laser for detecting absorbance of the gas in the area, and avisible laser for detecting a pathlength of the mid-IR laser. Theabsorption is determined based on the relative amplitude difference ofthe emitted and reflected mid-IR light beams. The mid-IR laser may usewavelength modulation techniques to improve the absorptiondetermination. The pathlength is determined by comparing a phase betweenthe emitted visible light beam and the measured visible light beam. Thegas detection system calculates a concentration of the gas in the areausing the determined absorption and pathlength. The mobile platform maybe an unmanned aerial vehicle.

Yet another reference that teaches the use of IR cameras on a mobileplatform for gas leak detection is the U.S. Pat. No. 6,7430,467. Theinvention disclosed in this reference is a vehicle mounted gas detectordevice comprising a laser transmitter and signal analyzer carried on thevehicle. The vehicle has a laser absorption cell mounted on the exteriorof the vehicle, a light guide connecting light from the lasertransmitter into the laser absorption cell, a photo-detector mountedwith the laser absorption cell exterior to the vehicle to convert lightthat has traversed the laser absorption cell into electrical signals,and a cable connecting the photodetector to the signal analyzer.

While the prior art may be adequate for its intended purposes, there isstill a need to provide a reliable, autonomous gas detection device thatis capable of being remotely operated to identify a pinpointed source ofa leak, relay information regarding the leak to stakeholders, and beingcapable of remaining on station for an extended period.

SUMMARY OF THE INVENTION

According to a first preferred embodiment of the invention, it includesan autonomous robot device or vehicle capable of detecting, identifying,and locating the source of methane leaks. Because of the number ofoperating components within the device, it may also be considered arobotic system. The device comprises multiple components or subsystemsthat enable the device to be remotely operated and to move autonomouslyand safely within a location, to selectively deploy source detectioncomponents that can precisely locate the source of a leak, to relay dataregarding the leak to stakeholders, and to remain powered that enablesoperation of the device over an extended period.

The robot device platform is a wheeled vehicle powered by electricalmotors. The body of the device platform is used to mount all devicecomponents to include a drivetrain, mast, electronics, and navigationsubsystems. The body is constructed of a robust material such asaluminum or other metal alloy that is capable of supporting the weightof all the other subsystems yet minimizes the weight of the device. Thisbody is covered by panels that protect the internal components fromexternal damage. The panels along with seals also provide waterproofingfrom weather such as rain and snow. The robotic vehicle is intended tobe operated in all weather conditions including rain and snow. Thepanels may be constructed from a composite material that is lightweightyet with sufficient strength and resiliency to protect the interiorcomponents of the robotic vehicle.

According to one configuration, the robotic vehicle has four wheels eachpowered by an electric motor. The wheels may be pneumatic or airlesstires. The inflation level or stiffness of the tires can be selected toprovide a desired amount of suspension to allow the vehicle to travel onrough terrain. Each of the motors are mechanically coupled to the wheelsusing a corresponding gearbox that increases the torque of the motorswhile decreasing motor output speed. The gearboxes transmit drivingpower through 90° linkage to bearing-supported wheel driveshafts therebyallowing the motors to be packaged more compactly in the frame of thevehicle. Bearing assemblies are mechanically linked to the gearboxes forinterconnecting the wheels to the gearboxes.

The drivetrain of the robotic vehicle is also equipped with a brakingcapability internal to each of the motors that provide a selectivebraking force on some or all of the wheels. The braking capabilityenables the robotic vehicle to slow itself down quickly or remainstationary on an incline while using minimal power.

The robotic vehicle is equipped with a source detection subsystem thatcan identify and quantify an item of interest to the user. Examples ofitems which may be sourced are gas leaks and other observable phenomenasuch as methane at an oil and gas well,), liquid leaks, sound/noise,light, and others. The source detection subsystem uses one or moresensors that measure the robot's surroundings and/or an optical sensorthat scans the environment similar to a camera. To quantify and locatethe source of a sound of interest, an omnidirectional microphone may beused to detect the sound, and a directional microphone utilized todetermine the direction from which the sound originated. Liquid leaksmay be detected using a combination of a visual camera (to visualize theliquid on a surface) and an infrared camera (to visualize the vaporsevaporating from the liquid pool, if any); these sensors capture similardata in terms of a “picture/video” of the robots surroundings but aredifferentiated in the wavelengths of light which they can accuratelydetect and record. Light sources are detected and inspected using avisual camera alone. In the example of locating and quantifying amethane gas leak, an ambient air sensor is capable of measuring themethane concentration wherever the device is located at that moment. Theoptical sensor adds the capability to measure the methane concentrationof the surroundings instead of measuring only the concentration at asingle point. The robot includes a mechanism that points the sensor in adirection that the robotic vehicle specifies; any of the aforementionedsensor types may be mounted upon this pointing mechanism. The sensorpointing mechanism may include a pan/tilt mechanism, a gimbal, or anyother device that can control sensor tilt and rotation via electricalsignals.

The robotic vehicle of the invention manages sensor outputs that arecombined with operational software to navigate the device to a locationto identify the source of a leak. Two navigation modes work in tandem tocomplete the objective. In both modes, continuous gas measurements arerecorded along with positions where the measurements were taken. As datais collected, it is fed as training data to a machine learning model ofoperation software, and the model then outputs gas concentration dataand corresponding location data.

A mast is used to raise or lower the detection subsystem to a desiredheight. The mast is collapsible or extendible within a height range thatis required for the particular installation where the robot is located.For example, the mast could be collapsible for locating the detectionsubsystem close the ground at a height of the upper surface of therobot. The mast could be extendible to a height in the range of 10-25feet, which would likely accommodate most oil and gas platforms. Theselective actuation of the mast provides another dimensional data pointto precisely locate the source of a leak and provide information forquantification of the leak. Most oil and gas facilities have pipingarrangements with pipes and storage units at various heights, and suchpipes and storage units may be closely spaced from one another. Withoutproviding height dimension data, the pinpointed location of the leak maynot be determinable since there could be many pipes located within thesame small area.

The electronic subsystem of the device comprises of all the electronicsnecessary to power, operate, and control the device. The robot ispowered by rechargeable batteries. These batteries are connected to anelectronics box that contains all of the necessary voltage convertors,motor drivers, capacitors, and other power electronics. The electronicsbox also houses an onboard central control computer that autonomouslydetermines path planning for movement of the robot by inputs receivedfrom the navigation subsystem. Once a path is determined by thenavigation subsystem, motor commands are relayed to the motor driversfrom the control computer which propels the robot in whichever directionthe computer determines the robot should go. This central computer actsas the central processing unit of the robot and is capable of sendingcommands to any other component that is electronically controlledincluding the mast, motors and navigation subsystem.

A navigation subsystem is used to control movement of the roboticvehicle by sending electronic navigation commands through the onboardcomputer to the drivetrain which in turn, controls each of the wheels.The navigation subsystem utilizes data from one or more sensors, whichmay comprise a single monocular camera, a stereoscopic camera, a lidar

or a combination of the three. The monocular camera records singleimages, which are processed onboard the robot to extract depth anddistance data from the image. The stereoscopic cameras are two identicalcameras, operated in parallel to generate 3-dimensional imagery of therobot's environment. These cameras utilize an infrared (IR) projector toilluminate the robot's environment in the infrared spectrum, and thestereoscopic depth cameras record time-of-flight data for the IR beamsas well as images in both the visible and IR spectra, providing anotheralternative for navigation sensing. A LIDAR (Light Detection andRanging) sensor operates in a similar fashion, using collated lightbeams (laser beams) to measure the distance to objects in the robot'senvironment as the light beams are reflected off of the objects. Thus,the selective application or combination of the aforementioned sensorsprovides redundant environmental sensing data as inputs for the robot'snavigation algorithms in a wide range of lighting and weatherconditions.

The one or more cameras and/or lidar are mounted on the body of therobot to ensure that the robot can perform reliable and controlledmovement. The navigation subsystem is capable of obstacle detection andavoidance, robotic path planning, and emergency stops of the robot. Inaddition to collection of visual and radar data, the robot is alsoequipped with an IMU (Inertial Measuring Unit) that provides robotposition, orientation, velocity, and acceleration data to the onboardcontroller. The navigation subsystem and IMU work together to performvarious SLAM (Simultaneous Location and Mapping) tasks and to ensuremovement of the robot is accurate and consistent with the electronicsubsystem's movement commands.

The onboard control computer receives and records data from the one ormore sensors. The control computer has a processor that runs operationalsoftware that enables control of the robot by pre-programmedinstructions of the software/firmware. One particular feature of thesoftware/firmware is the machine learning program or algorithm of thenavigation subsystem that continually updates instructions as to theparticular path the robot should take to arrive at the location of theleak.

The robot has two primary modes of operation. The first mode is a searchmode that is used as a means to direct the robot to the source of theleak. In the search mode, the robot uses an “objective map” fornavigating the robot to the source of the leak. Logic in software orfirmware of a central computer of the robotic vehicle utilizes one ormore algorithms to set goals for the vehicle to deploy to maximumrecorded measurement intensities, presumptively a potential source of aleak. Additional measurements are recorded and fed into the machinelearning model of the central computer. An updated objective map is usedto set a new goal positions. If the robotic vehicle finds a localmaximum in intensity where measurement intensity drops in all directionsand the source conditions have been met, a second exploration mode istriggered.

The exploration mode collects additional data to in key areas at thejobsite to build a more robust model. In the exploration mode, new goalsare generated for areas with sparse, or no data, and the modelprioritizes areas that characterize the mapping but do not point to asource, such as outliers, minima, asymptotes, eigenvectors, etc. Thenavigation subsystem handles path planning, obstacle avoidance, andmotor control to move the robot to goal position for both explorationand search modes.

A docking station is provided to recharge the batteries of the robot.The docking station may be configured for wired or wireless charging.Accordingly, the robot also incorporates an electrical connection forwired charging and/or a receiver coil for wireless charging by inductivecoupling. The docking station is where the robot will recharge andreside between site patrols.

The robotic vehicle is intended to be operated in a variety of locationswhere methane leaks or other sources of interest may be present. Many ofthese locations are related to oil and gas installations which couldinclude production wells, storage tanks, pipelines, and urban pipedistribution networks.

The robotic vehicle is advantageous for replacing personnel used topatrol a site where a leak has occurred. The robot is capable ofremaining on station for extended periods which therefore preventshaving to deploy personnel to the site who may otherwise be required tointermittingly check for leaks, go into a situation with little to noknowledge on a leak, be in a hazardous environment for extended periodsof time trying to pinpoint a leak. This manual effort by attendingpersonnel can be time consuming, dangerous, and labor intensive.

The robotic vehicle is also advantageous for replacing and/orcomplimenting existing static detection systems. The robotic vehicle ismobile at the site location and also has a vertical detection capabilitywhich provides dimensional freedom to pinpoint and quantify a methaneleak. Stationary sensors can only identify that a leak is occurringwithin a general area but such sensors are incapable of pinpointing theleak thus requiring subsequent manual searching and investigation.

In connection with the robotic vehicle of the invention, according to afirst aspect of the invention, it may be considered as a robotic vehiclefor detecting a source of a gas leak, comprising: a vehicle frame;electric drive motors mounted to the vehicle frame; wheels connected todrive shafts of the drive motors; motor controllers communicating withthe drive motors to selectively control rotational movement of thewheels; an extendable and retractable mast assembly mounted to theframe, the mast assembly including a mast base and a mast; a gasdetection sensor positioned at an upper end of the mast; a centralcomputer secured within the vehicle for controlling autonomous operationof the vehicle, said central computer including at least one processorfor executing programming tasks and at least one memory element forstoring data; a first software application integral with said centralcomputer for receiving data and for executing commands to control thevehicle through a processor of said central computer, said dataincluding navigational data, sensor data, environmental data, and userdefined data; and at least one navigational camera mounted to thevehicle for providing visual images of an environment in which thevehicle operates.

In connection with the robotic vehicle of the invention, according to asecond more detailed aspect of the invention, it may be considered as arobotic vehicle for detecting a source of a gas leak, comprising: (a) avehicle frame; (b) electric drive motors mounted to the vehicle frame;(c) wheels connected to drive shafts of the drive motors; (d) motorcontrollers communicating with the drive motors to selectively controlrotational movement of the wheels; (e) an extendable and retractablemast assembly mounted to the frame, the mast assembly including a mastbase and a mast; (f) a gas detection sensor positioned at an upper endof the mast; (g) a central computer secured within the vehicle forcontrolling autonomous operation of the vehicle, said central computerincluding at least one processor for executing programming tasks and atleast one memory element for storing data; (h) a first softwareapplication integral with said central computer for receiving data andfor executing commands to control the vehicle through a processor ofsaid central computer, said data including navigational data, sensordata, environmental data, and user defined data; (i) an onboard gatewaythat communicates with an external network to facilitate flow of databetween communication networks associated with the vehicle; (j) an RTKGPS unit communicating with the central computer to facilitatedetermining a location of the vehicle through a GPS link; (k) an IMUunit integral with the central computer to establish a spatialorientation of the vehicle during operation; (l) a GPU communicatingwith the central computer to manage graphics rendering tasks associatedwith display of selected data and visual images to a remote displaydevice. More specifically, the GPU is used to accelerate mapping of theenvironment by generating and filtering terrain meshes from sensor data,training and executing neural models, and accelerating visual basednavigation and (m) at least one navigational camera mounted to thevehicle for providing visual images of an environment in which thevehicle operates.

According to another aspect of the invention, it may be considered asystem for detecting a source of a gas leak, comprising: a roboticvehicle for detecting a source of a gas leak, said robotic vehicleincluding: (a) an extendable and retractable mast assembly mounted tothe robotic vehicle, the mast assembly including a mast base and a mast;(b) a gas detection sensor positioned at an upper end of the mast; (c) acentral computer secured within the robotic vehicle for controllingautonomous operation of the vehicle, said central computer including atleast one processor for executing programming tasks and at least onememory element for storing data; an external network gatewaycommunicating with the central computer to facilitate flow of databetween communication networks associated with the vehicle; a firstsoftware application integral with said central computer for receivingdata and for executing commands to control the vehicle through aprocessor of said central computer, said data including navigationaldata, sensor data, environmental data, and user defined data;

an external network gateway communicating with the central computer tofacilitate flow of data between one or more communication networksassociated with the vehicle; a second software application communicatingwith said robotic vehicle to receive data, display data, and toselectively transfer data to one or more remote computing orcommunication devices within a communications network of said one morecommunication networks, said second software application comprising aplurality of user interfaces for displaying said data associated withoperational functions of said robotic vehicle including recorded datafor detected gas concentrations and locations where said gasconcentrations were detected; andat least one of a mobile communication device or remote computer thatruns said second software application wherein the remote display deviceis incorporated in said mobile communication device or remote computerand wherein at least one user interface is generated on the remotedisplay device that displays said recorded data for detected gasconcentrations and said locations where said gas concentrations weredetected.

According to yet another aspect of the invention, it may be considered amethod for detecting a source of a gas leak, comprising: providing arobotic vehicle including: an extendable and retractable mast assemblymounted to the robotic vehicle, a gas detection sensor positioned at anupper end of the mast, and a central computer secured within the roboticvehicle for controlling autonomous operation of the vehicle, saidcentral computer including at least one processor for executingprogramming tasks and at least one memory element for storing data;positioning the robotic vehicle at a jobsite where a gas leak issuspected; generating commands for the robot to commence movement at thejobsite, said commands being processed by said central computer toactuate electric motors of said robotic to move said vehicle toward adetected leak, said commands being generated from a source detectionalgorithm based on a gradient descent model, wherein said commandscontinually refine a position of the robotic vehicle so that it moves toan area of high probability of increased gas concentration;predetermining a path of travel for said robotic vehicle based oninitial gas concentrations detected by said gas detection sensor; movingsaid robotic vehicle along said predetermined path in a first searchmode; selectively raising and lowering said mast assembly to obtainsensor readings at different heights as said robotic vehicle travels andwhen said robotic vehicle comes to a stop; determining, by said centralcomputer, whether said sensor readings satisfy one or more conditionsindicating a likelihood of a detected leak near or at a present locationof the robotic vehicle where sensor readings are taken; determining, bysaid central computer, when said conditions are satisfied to thenoperate said robotic vehicle in an exploration mode; operating saidvehicle in said exploration mode to determine when goal conditions aremet, said goal conditions defined as data recorded in an area where saidgradient descent model indicates the presence of a higher concentrationof gas; and confirming the source of the leak is found by iterativeexecutions of said gradient descent model that are stable.

Other features and advantages of the invention will become apparentconsidering the following detailed description taken in conjunction withan evaluation of the figures herein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of the carriage or frame of the autonomousvehicle device or robot according to a first embodiment of theinvention;

FIG. 2 is a top plan view of FIG. 1 with some components removed to viewdetails of a powertrain of the device;

FIG. 3 is a perspective view of the device with exterior panelsattached, the mast partially raised and a sensing device mounted to themast;

FIG. 4 is another perspective view of the device with the exteriorpanels removed and showing the partially raised mast with the mountedsensing device;

FIG. 5 is a perspective view of the device with the exterior panelsattached and the mast retracted;

FIG. 6 is a flowchart depicting methodology associated with collectionand utilization of data which enables the robotic vehicle to locate thesource of a leak most efficiently;

FIG. 7 is a flowchart depicting methodology associated with theexploration mode of operation of the robotic vehicle;

FIG. 8 is a schematic diagram illustrating mechanical and electroniccomponents of the robotic vehicle;

FIG. 9 is a schematic diagram illustrating components of the centralcomputer of the robotic device;

FIG. 10 is a schematic diagram illustrating operation of the roboticvehicle with reference to an example mission plan and specificallysummarizing mission steps, task manager functions, and executed tasks;

FIG. 11 is a schematic diagram showing one or more robotic vehicles andone or more existing sensors employed within a communications network orsystem. FIG. 11 also represents an exemplary computer processing andcommunication network that may be used in connection with the roboticvehicles and existing on-site sensors that are installed at a jobsite ofinterest.

FIG. 12 is a sample user interface associated with user observation andcontrol of a deployed robot at a job site, the user interface viewableon a computer or mobile communication device;

FIG. 13 is another sample user interface showing data associated withsensors and environmental conditions; and

FIG. 14 is another sample user interface showing a virtual map of thecurrent location of a robot at a job site and paths of travel taken tolocate the source of a leak.

DETAILED DESCRIPTION

According to one aspect of the invention the invention it can beconsidered an autonomous robotic vehicle capable of detecting,identifying, and locating vaporized methane leaks. These leaks can occurat a variety of locations including oil and gas production wells,storage tanks, pipelines, and urban distribution pipes. The roboticvehicle includes various components that enable the robotic vehicle todrive autonomously and safely, deploy one or more gas detection devices,identify the source of a leak, relay information to an operator, andrecharge batteries for autonomous operation over an extended period.

FIG. 1 is a perspective view of the carriage or frame of the autonomousvehicle device or robot according to a first embodiment of theinvention. The device 10 has four wheels that support a main frame orcarriage 14. The main frame 14 may be constructed of lightweight metalcomponents such as aluminum. The main frame 14 serves as the supportstructure for which all components of the robotic vehicle are mounted. Amast platform 16 is secured to one side or end of the main frame 14. Themast platform 16 is used as the base for mounting the extendable andretractable mast. The other side or end of the frame 14 includes anelectronics platform 18 that is used as a platform for mounting variouselectronic components. Two primary batteries 20 are shown and mounted onopposite sides of the main frame 14.

FIG. 2 shows a top plan view of FIG. 1 with some components removed toview details of a powertrain of the device. Four gearboxes 22 areprovided to transmit rotational power to the wheels 12. Each wheel hasits own corresponding gearbox: therefore, each of the wheels 12 can beindependently driven in order to maximize mobility and control of therobotic vehicle. Bearing assemblies 25 are located between the gearboxes22 and the wheels 12 to mechanically link the gearboxes for controllingpower applied to the wheels. Drive axles 27 are shown as extending fromthe bearing assemblies 25 to the wheels. The robotic vehicle is steeredwhereby differentially driving or braking wheels on one side of therobot cause the robot to turn towards the side that is away from thedriven side. Thus, no steering gear is required and the robotic vehiclecan perform 360° point turns in-place. If airless tires are used, thenno additional suspension is required to drive the vehicle over rough oruneven terrain. The airless tires provide sufficient shock absorptionand wear characteristics to survive for the life of the robotic vehicle.

The robotic vehicle includes supplemental or secondary batteries 26.Four secondary batteries 26 are illustrated, it being understood howeverthat the vehicle can adopt any number of batteries to provide adequatebattery backup power as may be required by assigned missions to beundertaken at a jobsite.

FIG. 3 is a perspective view of the device 10 with exterior panelsattached, the mast partially raised and a sensing device mounted to theupper end of the mast. More specifically, the vehicle 10 is illustratedwith a plurality of exterior panels 40 which house the internalcomponents of the robotic vehicle. The panels are sized and configuredso that the robotic vehicle maintains a relatively low and compactprofile which enables it to be maneuvered in tight spaces. Each of thepanels 40 may be bolted to an underlying panel frame (not shown) whichis secured to the main frame or carriage 14.

A mast 30 extends through an opening 31 in the upper surface panel 40.The mast 30 is extendable and retractable to selectively place one ormore sensors at a desired height for gas measurement. The upper end ofthe mast 30 incorporates a mast sensor mounting plate or platform 32 formounting the one or more sensors. The sensor 34 depicted in FIG. 3 cantherefore represent any type of sensor that is especially adapted forlocating and monitoring a gas leak, noting the particular sensorillustrated resembles an optical sensing device. The mast is preferablyextendible to heights between about ten to twenty-five feet that enablesthe robotic vehicle to effectively scan oil and gas facilities along anentire vertical profile of the facilities. The mast is collapsibleduring travel to place the mounted sensors close to the upper surface ofthe vehicle to prevent the vehicle from tipping over while driving oroperating in high winds. Preferably, the mast has a payload capacity ofat least 1 kilogram to raise and lower mounted sensors within areasonable amount of time, such as a 1-2-minute timeframe.

FIG. 3 also illustrates a sensor 43 that could be any one of an opticalcamera, an infrared camera, a directional or omnidirectional microphone,or combinations thereof. As shown, the sensor 43 is mounted in a frontpanel of the robotic vehicle. However, a plurality of sensors can bemounted on any surface of the panels 40 and therefore, according toanother preferred embodiment of the invention, it may include one ormore sensors mounted to any selected surface of the robotic vehicle. Asmentioned, selected sensor(s) can be used for navigational aid (e.g.,optical cameras), vaporized gas detection (e.g., infrared cameras),sound detection (directional or omni directional microphones), or liquidleak detection (combination of optical cameras and infrared cameras).

In one specific embodiment, the sensor 43 may depict a navigation camerathat is a very small forward-facing visible light camera, located in thefront panel as shown. The navigational camera is used to providesupplementary visible light imagery data to the navigation subsystem.Data recorded from the navigational camera is augmented by data fromsource detection sensors (e.g., an IR camera, LIDAR, etc.) The body ofthe navigational camera is a small box housed inside of the robot andbehind the front panel. The navigational camera records images and videodata through a small lens looking out through a lens aperture in thefront of the robot, concealed behind a transparent panel.

FIG. 4 is another perspective view of the device 10 with the exteriorpanels 40 removed and showing the partially raised mast 30 with themounted sensor 34. A mast housing 36 is secured to the mast platform 16for supporting the extendable/retractable mast 30. One example of a mastdevice that may be used is disclosed in the U.S. Pat. No. 9,267,640,this reference being incorporated by reference herein for the purpose ofdisclosing the particular structure for the extendable and retractablemast 30. In summary, this reference teaches a mast configuration withthree flexible bands that forms respective sides of the mast. Theflexible bands are stored in the mast housing 36. The flexible bands arewound around three corresponding spools (not shown) spaced at 120° fromone another. When the spools are un-wound the bands are pushed towardsone another causing the edges of each band to contact the edges of theother two bands. Teeth located on the edges of the bands interlock withone another forming a stable triangular structure in cross-section. Theheight of the mast is adjusted by unwinding/rewinding the spools holdingthe bands. FIG. 4 also shows a housing 42 for the robot's main computer.This housing is a weatherproof box with sealed input/output cableglands, as well as air inlets and outlets to allow an ambient air sensor45 mounted within the housing 42 to measure the atmosphere surroundingthe robot.

If the mast device disclosed in the '640 patent is used, the operationof the mast 30 is as follows: when a command is sent from the operatorto the on-board computer of the vehicle, a mast motor inside of the masthousing 36 turns a leadscrew (not shown), which in turn unrolls thethree spools holding the coiled flexible bands. The ability to store theflexible bands in a rolled configuration on the spools allows the mastto be stored in a compact arrangement with a ratio of stowed/deployedheight of at least 1:10. In addition, the mast cannot retract withoutcommanding the motor to turn the leadscrew and reels. Therefore, themast remains in a locked position when deployed at any height along itsdeployment. The mast requires the same amount of power to deploy andretract, has a sizeable payload capacity at the end of the mast, and canbe operated in either a vertical or horizontal configuration. The sensorplatform 32 at the top of the mast allows a variety of means forinterfacing with sensors and actuators, including electrically,mechanically, and communications interfacing (RS 232, CAN Bus, etc.).

FIG. 5 is a perspective view of the device with the exterior panels 40attached and the mast 30 retracted. From this view, one can appreciatethe compact profile of the robotic device that enables it to travel on astable platform because the mast 30 is fully stowed within the vehicleand therefore does not add any vertical height to the vehicle.

FIG. 6 is a flowchart depicting methodology associated with collectionand utilization of data which enables the robotic vehicle to efficientlylocate the source of a leak. The flowchart generally representscomputational steps associated with utilization of the data within agradient descent model in which the probability of finding a leak isrepresented as a map showing gas concentration or intensity. Gradientdescent in mathematics is a first-order iterative optimization algorithmused to find a local minimum of a differentiable function. The algorithmis executed in repeated steps in the opposite direction of the gradient(or approximate gradient) of the function at the current point, as thisis the direction of steepest descent. The local and global minima of thesurface represent areas of high gas concentration (such as methane).Instructions from the central computer of the robotic device focus oncontinually refining the position of the robotic vehicle so that itmoves to an area of high probability of increased gas concentration onthe surface. When determining which direction to drive the roboticvehicle to get closer to a leak, a source detection algorithm seeks toadvance the gradient descent as quickly as possible. The data used inthe source detection algorithm that is incorporated within the gradientdescent model includes collected atmospheric data of gas concentrationat the job site. In the context of the exploration mode of operationversus the search mode of operation, the gradient descent model isexecuted within the search mode while the exploration mode is more of adata collection operation in which the probability surface of thegradient descent model cannot be utilized until there is a thresholdamount of data collected.

At step 150, this is the starting point in which data is retrieved frompoint or points represented on the virtual map of the model surface. Atstep 152, the shared map pointer references data is taken in and updatedto make sure that the data corresponds to the same place (referring tothe same, shared data). At step 154, the robotic vehicle is drivenaround the jobsite and data is recorded including measurements of gasconcentration, corresponding locations and times. At step 156, thecollected data is then weighted based on how much time has elapsed sincethe data was collected (the age of the data). At step 158, the gradientdescent model is updated with the weighted data and the model at step160 then generates an updated source intensity map which depicts themost relevant data pointing to the specific location of a leak. Steps152-160 are repeated until the model becomes stable which is signifiedby reduced changes in the generated source intensity map.

FIG. 7 is a flowchart depicting methodology associated with theexploration mode of operation of the robotic vehicle. The end point orgoal of the methodology shown in this figure is to achieve modelstability and thereby presumptively detecting a source of a leak. Atstep 170, the exploration mode or state is commenced. At step 172 thestate is explored, meaning initial data is evaluated. At step 174, adetermination is made as to the best goal possible considering theattendant circumstances regarding the quantity and quality of data thatcan be obtained. At step 176 the robotic vehicle is navigated to thegoal. At step 178, a determination is made whether there is sufficientdata to satisfy a threshold value according to the gradient descentmodel. In other words, is there sufficient data to set a threshold asreflected in model stability in which the model has converged on acertain result or threshold value, namely, a maxima indicated by thehighest detected concentration of gas. If the model has not yetconverged on a maxima, then the data is not sufficient to set thethreshold. Accordingly, if there is no convergence on a maxima, theprocess is repeated again at step 172. If the data is sufficient to setthe threshold, then the robotic vehicle then operates in the search modeor state as indicated at step 180. At step 182, the concentration map isupdated from the calculations made in the gradient descent model of FIG.6 . At step 184, the goal, i.e., the location of the leak, is placed atthe highest adjacent intensity value meaning the highest concentrationor intensity of the gas leak is the presumptive goal. At step 186, therobotic vehicle is driven to the goal. When arriving at the goal adetermination is made at step 188 as to whether the threshold is met. Ifthe threshold has not been met, then the search process is repeated byreturning to step 180. If the threshold is met, then a determination wasmade at step 190 whether goal conditions have been met. A goal is alocation of interest at the site. The goal, for example, can either bean area where data has not yet been recorded or an area where thegradient descent model indicates the presence of a higher/highestconcentration of gas. A determination of when goal conditions are met isdefined as an area where data has been recorded and an area where themodel indicates the presence of the higher/highest concentration of gas.A determination of when goal conditions are not met is when data has notbeen recorded yet at the area or when the model indicates a higherconcentration of gas at another area. If goal conditions are not met,then the process is repeated beginning at step 172. FIG. 7 thereforerepresents an iterative process to detect the source of the leak inwhich the model utilized is continually validated to ensure there isenough recorded data in the model concentration predictions as well asconfirmation that threshold and goal conditions are met.

In summary for FIG. 7 , this figure represents logic associated with thedetermination of the location lately in which sufficient data gatheredresults in model stability. It threshold value or maxima of the detectedgas is indicated when the model converges on a value or range of values.Exploration is continued until the model was stabilized and thethreshold value is reached. Threshold considerations include therequirement to drive the robotic vehicle around the jobsite until themodel was stabilized as indicated by reaching the threshold value. Therobotic vehicle continually explores the jobsite to get updated gasconcentration data and then the algorithm of the model searches withinthat concentration data to find the next most likely location to findthe source of the leak. If the source is not found, i.e., when thepredicted gas concentration does not match the sensor data, then theoperation of the vehicle is then reverted back to the exploration modeor state in which the robotic vehicle continues to search for anotherlocation of high gas concentration. Placing the goal at the highestadjacent intensity means a location for the robotic vehicle to drive toas determined by the highest gas concentration indicated by the gradientdescent model values at that time. The model will predict where thelocation of the next highest gas concentration is located based upon theobserved current location of the robotic vehicle. Commands are generatedand executed by the central computer of the vehicle to drive the vehicletowards the next highest gas concentration location. In other words, thegradient descent model predicts the next location adjacent to the robotwhere a higher gas concentration value is located. If the prediction isincorrect and the measured gas concentration is not as high as indicatedby the model, the robot will switch back to the exploration mode.Instructions for navigating the robotic vehicle are always directed towhere the model predicts the location of the maxima. If the predictedmaxima and the observed or recorded concentration do not match, therobotic vehicle will be directed somewhere else and will keep collectingdata. Instructions from the central computer direct the robotic vehicleto move to a random second location away from the previously visitedlocation.

A summary of the operation of the robotic vehicle follows: Whencommanded by an operator, the robotic vehicle leaves thedocking/charging station (not shown) and begins its patrol on thejobsite seeking a source of leaking gas. The vehicle preferably hasairless tires and the electric motors powered by the onboard batteries.The motors are controlled via the central onboard computer that receivesdata inputs from the sensors on the vehicle and existing sensors at thejobsite, if any are installed at the jobsite. This data enables thecomputer to plan a navigation path and send drive commands to themotors. The vehicle travels in a patrol area at the jobsite and themethane source detection sensor(s) continually scan the area for methanein the local atmosphere. This detection sensor(s) are mounted to theextendable mast that raises the detection sensor(s) vertically atvarious points throughout the patrol. While driving, the mast isretracted. If a methane leak is suspected or detected above the groundsurface, the mast is extended to the appropriate height to inspect thepotential source of the leak. This vertical extension capability enablesthe robotic vehicle to accurately quantify a methane leak high above theground. Following a patrol, the mast is retracted and the vehicle iscommanded to navigate back to its docking/charging station for batteryrecharge and to await a next site patrol.

The robotic vehicle is equipped with a source detection components thatcan identify and quantify a methane leak in an open outdoor atmospherefrom significant distances. The source detection function of the roboticvehicle may utilize one or more sensors that measure the concentrationof methane or another pollutant such as particulate matter. The depictedsensor 34 may be an optical sensor that provides the capability formeasuring gas concentration of the surrounding atmosphere within itsfield of view. An ambient air sensor may also be used to measure themethane gas concentration wherever the robotic vehicle is located atthat moment. If an optical gas sensor/camera is utilized, the vehicle isoutfitted with a mechanism that can point the camera in a direction thatthe operator specifies. The pointing mechanism can be the pan/tiltmechanism, gimbal, or any other device that can control camera tilt androtation via electronic commands.

The sensor data that is recorded is combined with autonomous navigationsoftware that facilitates efficiently driving the vehicle to the sourceof the leak. As the vehicle travels, new sensor data is continuallytaken to pinpoint the source and quantify the magnitude of the leak. Asmentioned, two navigation modes work in tandem to facilitate finding aleak; the search mode and exploration mode. In both modes, continuousgas concentration measurements are recorded along with the locationwhere the measurements were taken. As data is collected, it is used topopulate data variables in the machine learning model that creates avirtual map of gas concentration over a pre-defined area in a geographiclocation such as an oil and gas facility. In the search mode, thevirtual map is used to navigate the vehicle to the source of the leak.

FIG. 8 is a schematic diagram illustrating mechanical and electroniccomponents of the robotic vehicle that may be considered a subsystem 200of the robotic vehicle 10. The subsystem 200 comprises the onboardcentral computer 202 that controls all functions of the robotic vehicleenabling it to operate autonomously without manual intervention. Theonboard computer controls other functions of the robotic vehicle toinclude operation of the mast, methane sensor(s), ambient air sensor(s),optical camera controls such as gimbal and pan-tilt devices, andprocessing of camera images and video.

An external network Gateway 204 communicates with the central computer202 through a universal asynchronous receiver/transmitter unit (UART). AUART as understood by those skilled in the art is not a communicationsprotocol but rather a physical circuit in a microcontroller orstandalone integrated circuit. The present invention, a UART connectionprovides a more reliable means of connection between the externalnetwork Gateway 204 and the central computer 202. The external networkgateway 204 may be embodied in networking hardware or software to enableflow data between networks. In general, the external network gateway 204represents a generic means of interoperability or interface betweencommunication networks in which the robotic vehicle operates. Thegateway 204 could be any type of wireless connection protocol such as anLTE, Wi-Fi and/or Bluetooth. A real-time kinematic global positioningsystem (RTK GPS) unit 206 of the invention also communicates with thecentral computer 202 by UART. The RTK GPS unit 206 enables the roboticvehicle to determine its present position by use of a GPS referencepoint and an onboard state estimation filter. In this regard, theinvention is therefore connected to a GPS network in which all movementsof the robotic vehicle may be tracked and recorded. An inertialmeasurement unit (IMU) as discussed collects acceleration, linearmovement, and rotational data of the robotic vehicle to establish thecurrent orientation of the robot which also influences the positioningof the robot. An ethernet switch 210 manages the ethernet connections tovarious components of the vehicle to include the motor controllers 228and connections to/from a methane inspection sensor/camera 218.According to one preferred embodiment, the methane inspectionsensor/camera 218 may also be represented by the camera 34 illustratedin FIGS. 3-5 .

One or more power or voltage regulators are provided to ensure provisionof steady and constant voltage supplies through all operationalconditions. The power regulators handle voltage spike suppression in theevent of sudden shutdown or excess power drawn during by a drive motorduring a wheel stall event. In the figure, two power regulators 212 and214 are illustrated, the regulator 212 managing power to the centralcomputer 202 and to the motor controllers 228 while the other powerregulator 214 manages power to the inspection camera 218, a pan/tiltmechanism 220 and the deployable mast 222. Power is served directly fromthe batteries to the motor controllers 228 as shown.

Front and rear navigation cameras 224 and 226 may be mounted to therobotic vehicle on the front and rear sides of the vehicle to assist invehicle navigation. The video images taken are processed through thecentral computer 202 for many purposes to include obstacle avoidance andto allow an operator to view the present position of the vehicle as itis driven around the job site.

Four motor controllers 228 are illustrated, each motor controller beingused for rotational control of a corresponding drive motor 232 for eachwheel 12. Each drive motor 232 is paired with a quadrature encoder 230and brushless motor driver (not shown). The encoder 232 is preferably arotary encoder that provides a closed loop feedback signals by trackingthe speed and/or position of the drive motor shaft. The encoder canprovide information about change in position, absolute position, andspeed of the motor shaft. The signals are used by the central computerto make decisions about motor operation parameters. The combination ofthe encoder and motor drive enables traction control and assists intracking the robotic vehicle's movements and speed. Two of the motors232 are equipped with heavy duty brakes 234. The brakes 234 reduce powerconsumption while the vehicle is stationary and decrease the timerequired to stop the vehicle. One type of brake that can be used is anelectro-mechanical disk brake operated by electrical actuation. Whenpower is applied to a coil of an electromagnet of the brake, themagnetic flux attracts an armature to a face of the brake resulting infrictional contact between inner and outer friction disks. The brakesare configured to fail safe so when the vehicle is powered down, it willremain stationary and not pose a risk to nearby people, vehicles, andinfrastructure. Each motor controller 234 utilizes a Modbus TCP overethernet connection to communicate with the central computer 202.

According to one preferred embodiment, the vehicle is equipped with themethane detection sensor/camera 218 and an Internet protocol (IP)enabled pan tilt mechanism 220, both utilizing an ethernet connectionwith the central computer 202. Preferably, all of the ethernetconnections are fed into an industrial ethernet switch (not shown) thatare then routed to the central computer 202 that manages all of theInternet Protocol (IP) connections. The central computer 202 alsofunctions as a domain name system (DNS) server for connection of thevarious components of the vehicle that may require connection to theInternet, such as the sensor/camera 218 and pan/tilt mechanism 220.

The navigation and control electronics of the robotic vehicle handle allfunctions required to power, operate, and control the vehicle. Thecentral computer autonomously determines path planning by taking inputfrom the navigation components. Once a path is planned, motor commandsare relayed to the motor drivers that power the motors 232 to propel therobotic vehicle along the pre-planned path. The navigation and controlelectronics

In the preferred embodiment of FIGS. 3-5 , the deployable mast 222corresponds to the mast 30. The deployable mast 222 is managed directlyfrom the central computer 202, such as by RS-232 serial commands. Asneeded, the central computer will issue serial commands to raise themast to a specific height at a desired rate. The central computer canalso monitor mast status information such as the current height or powerdraw of the mast.

To perform localization and autonomous functioning, the robotic vehicleutilizes the RTK GPS 206, IMU 208, and the front and rear depth cameras224/226. As mentioned, the GPS and IMU each use UART to communicatetelemetry data to the central computer. The central computer may includea dedicated navigation stack for navigation control deployed on theCentral Computer. This is then complimented with depth data from each ofthe depth cameras over MIPI.

To communicate with external networks as mentioned, the central computer202 is linked to the external network gateway 204 over UART.Communications for the robotic vehicle are intended to be flexible forvarious communication modules, such as LTE or Wi-Fi. Over UART thegateway 204 transmits and forwards data over a TCP connection (notshown) to the central computer, allowing for rover telemetry and datastreams to be sent to a remote command center and commands to be sent tothe robotic vehicle from the remote command center.

FIG. 9 is a schematic diagram illustrating functional components of thecentral computer 202 of the robotic vehicle used to control vehiclenavigation and other functions. UART 240 indicates how the centralcomputer 202 communicates with various components of the subsystem 200as described for FIG. 8 including the external network gateway 204, theRTK GPS 206, and the IMU 208. The local network manager 242 represents acontrol module used to manage a local area network (LAN) forcommunications between components of the vehicle and with any remotesensors that may be installed at the jobsite. The RS 232 element 244represents the communications connection between vehicle components andthe central computer such as a RS 232 connection with the deployablemast 34/222. The central processing unit 246 of the central computerhandles a number of functions including state estimation 248 thatcomprises an extended Kalman filter used to fuse the data from differentsensor sources to create the most accurate prediction of where thevehicle is located and how it is moving. A Kalman filter is a type oflinear quadratic estimation algorithm uses a series of measurementsobserved over time, containing statistical noise and other inaccuracies,and produces estimates of unknown variables that are typically moreaccurate than those based on a single measurement alone, by estimating ajoint probability distribution over the variables for each timeframe.Source detection navigation/integration 250 refers to an algorithm usedfor locating and pinpointing the source of a gas leak, the method ofoperation utilizing the algorithm being described in FIG. 10 . The pathplanner 252 represents the logic associated with defining the roboticvehicle's path in a three-dimensional environment. The robot controller254 refers to a control module that is used to parse computer coded pathinstructions and translating them to commands that can be used by themotor controllers. The task manager 256 represents programmingassociated with interfaces with external hardware and transmitting ofdata for commanding actuators and other mechanical components of therobotic vehicle. The rover API 258 is the vehicle side interface fortransmitting and receiving compressed data to/from the central computer,necessary for command and control of the vehicle. The graphicsprocessing unit (GPU) 260 represents a separate processor that isspecifically designed to handle graphics rendering tasks includingacceleration of mapping, navigation, and localization tasks.

The GPU 260 is therefore intended to represent an integrated electroniccircuit that can quickly manipulate and alter memory to accelerate thecreation of images in a frame buffer for output to a display device. Thesource detection neural model 262 represents a GPU-accelerated sourcedetection model. The term “neural” refers to a model that it istrainable using sensor data on gas quantification. The environmentfiltering 264 represents processing of the three-dimensional (3D) mapusing the GPU 260. 3D mapping 266 represents linking 3D perception data(point cloud) into a 3D mesh that can then be interpreted by theenvironmental filters. Visual odometry 268 represents logic associatewith utilizing the navigation/depth cameras 224 and 226 (e.g., a frontnavigational camera 43 shown in FIG. 3 which may also correspond todepth cameras 224 and 226) to track the vehicle's position in space andhow far the vehicle has traveled. The navigation camera interface 270represents the API utilized for processing and controlling thenavigation cameras 224 and 226.

The sensors mounted on the vehicle along with pre-installed site sensors(if any exist) receive environmental data and convey the data to amemory component of the computer. Navigation is achieved by combinedvisual and inertia monitoring components that include an optical deviceand an Inertial Measuring Unit (IMU). The optical device may be a singlemonocular camera, depth camera, lidar, or a combination of the three.The IMU provides angular rate, linear acceleration, and angularorientation to the control system. The IMU can be a modular unit thatperforms all of the tasks of a conventional IMU by use of variousaccelerometers and gyroscopes. The optical devices and IMU work togetherto perform simultaneous location and mapping (SLAM) tasks. Movement ofthe vehicle by an operator is accurate and consistent with controlsignals generated by the computer in response to operator commands.Navigation of the robotic vehicle enables obstacle detection andavoidance; path planning and emergency stops.

The graphics processing unit (GPU) 260 uses accelerated programs toenable autonomous navigation and operation of the vehicle in real time.As understood by those skilled in the art, a graphics processing unit isa specialized electronic circuit designed to rapidly manipulate andalter memory to accelerate the processing of large data sets in arrayformats not limited to graphical image data but rather any operationsrequiring processing on array-based data such as point clouds andmeshes. To execute autonomy, the robotic vehicle utilizes depth datafrom the depth cameras to map its current environment. This data is fedinto two parallel systems running on the GPU, the visual odometry systemand a three-dimensional navigation stack. By running complex navigationtasks on the GPU, the robotic vehicle can operate in near real time andquickly respond to its environment. The parallel running systems enablecontrol of the vehicle much safer and stable when deployed in dynamicenvironments because the vehicle can quickly observe, process, and reactto changing conditions at much higher rates than the same system runningon only the CPU. In addition, the GPU also supports the deployment ofvarious neural networks and models. The robotic vehicle's sourcedetection capabilities are therefore enhanced because the large amountsof navigation data can be processed more rapidly.

The CPU of the central computer handles a management stack and systemcontrol software. A “stack” as used herein means an array or liststructure of function calls and parameters used in the control softwareprogramming and CPU architecture. The management stack controls variousinterfaces used to control the vehicle, such as a local network managerthat interfaces with the motors, inspection camera, and pan tilt unit.The management stack also includes the vehicle side applicationprogramming interface (API) that interprets and translates commands anddata to and from the external network gateway. Vehicle commands areexecuted by the task manager. The task manager is responsible forproducing commands to control the vehicle's various mechanical actuatorssuch as the motors and mast. The CPU is also responsible for managingand executing source detection data collection and generating associatednavigation commands.

FIG. 10 is a schematic diagram illustrating operation of the roboticvehicle with reference to an example mission plan and specificallysummarizing mission steps, task manager functions, and executed tasks.To enable autonomous source detection by the robotic vehicle, thecentral computer utilizes dynamic state programming and execution.Dynamic state control can be conceptually separated in three functionalareas: a task manager 292, a mission plan 292, and task execution 294.The task manager 292 produces high level goals for the vehicle based oncommands received from the remote command center or commands triggeredby a sensor reading. Mission goals are produced by the task manager andthen dictate the mission profile that the robotic vehicle executes.Within the task manager 292, two primary functions are achieved, one byaction server 296 and the other by navigation 298. Specific actionserver actions could include detection of anomalies, performing patrols,and generating robotic vehicle goals. Specific navigation actions shownin the figure include path planning and motor commands. An examplemission plan 290 is also shown in FIG. 10 . The start 300 of the missioncommences when the robotic vehicle receives a command to pinpoint a leakwithin a certain region of interest. Once a mission has been defined,the robotic vehicle travels to the region of interest at step 302.During travel, the mast is stowed, the methane inspection camera(s) isoff, and the motor controllers are commanded to move the vehicle inrapid traverse. At step 304, a search is conducted of the targetedregion. During the search, the mast may be selectively raised, theinspection camera(s) are turned on, the vehicle may travel at a slowtraverse, source detection tasks are executed, and cameras are used toinspect the infrastructure seeking the source of the leak. At step 306,findings are reported regarding the search efforts at 304. During thisstage of the mission, the mast may still be raised, the inspectioncamera(s) may be on, and the vehicle is stopped. There was a vehiclereports the location of the gas concentration anomaly and reportsspecific camera and sensor data collected at the location of theanomaly. The anomaly maybe quantified. To execute the mission the taskexecution function 294 parses path and goal data from the task managerand converts them to explicit motor commands. Similarly, while a sourcedetection mission is active, the task execution function relays commandsto the inspection camera's pan tilt unit and mast to perform inspectiontasks. The task execution function 294 in this figure is subdivided intothree categories; motor control 308, mast control 310, and inspectioncamera control 312. Under motor control 308, three subfunctions arelisted including network interface, velocity control, and positionfeedback. Under mast control 310, subfunctions listed include commandinterface and position control. Under inspection camera control 312,three subfunctions are listed including network interface, cameracontrol, and pan tilt control.

FIG. 11 is a schematic diagram of a system 400 of the invention. Thesystem 400 defines an exemplary computer processing and communicationnetwork that may be used in connection with the robotic devices 10. Morespecifically, FIG. 14 illustrates a schematic diagram of the system thatincludes one or more user computers shown as workstation 402, remoteworkstation 406, and a client/customer computer 404. Each of thedepicted computers 402, 404 and 406 may alternatively comprise more thanone computer.

FIG. 11 also schematically illustrates a plurality of robotic devices 10that may be deployed at one or more jobsites. Each of the devices 10have its own wireless transmitter/receiver that is capable of wirelesscommunications with one or more mobile communication devices 430.Alternatively, the workstations 402 and 406 could incorporate wirelesscommunication capabilities so that wireless communications take placebetween one or more workstations and the mobile devices 430.

Each of the mobile communication devices 430 incorporate their ownmobile application or “app” to process data received from the devices 10and to generate user options for a user of the app. The communicationdevices 430 communicate with a communications network 410 such as by aweb interface. The network 410 may also represent a cloud provider whofacilitates communication with any or all communication endpoints shownin the system 400. The mobile devices 430 may also communicate with anyother of the computers in the system through the network 410.

A plurality of existing remote sensors 11 may be installed at jobsitelocations that are targeted for service by the robotic vehicles. In theinstances where the jobsites already have such existing remote sensors,the likelihood is that these are stationary sensors that are monitoredas part of operational control of the jobsite. Oil and gas facilitiesmay already have a number of installed sensors for methane leakdetection. According to another aspect of the invention, it iscontemplated that the system 400 can receive and process data from thesensors 11 in order to enhance operational control of the roboticvehicles when employed at the jobsites. For example, sensors 11 mayreport on elevated methane levels at general location(s) within an oiland gas facility and this initial data can be used to help navigate therobotic vehicles in their early stages of travel during the explorationstate.

The mobile devices 430 have their own internal computer processingcapabilities with integral computer processors and other supportinghardware and software. The mobile devices may be specially configured torun mobile software applications in order to view user interfaces and toview and update system data. All of the functionality associated withthe system as applied to the computers 402, 404, and 406 may beincorporated in the mobile devices 430 as modified by mobile softwareapplications especially adapted for the mobile device hardware andoperating systems. In connection with operating systems, it shouldtherefore be understood that the mobile devices 430 are not limited toany particular operating system, Apple iOS and Android-based systemsbeing but two examples.

Although FIG. 11 illustrates the use of workstations 402, 406, a clientcomputer 404 and mobile communication devices 430, a simplifiedcommunications network according to another preferred embodiment of theinvention only includes mobile communication devices 430 for monitoringand control of one or more of the robotic devices 10. In recent years,mobile apps have become a cost effective and efficient way for providingremote control of complex mechanical/electrical systems. All of thefunctionality associated with installation of the device(s), operation,troubleshooting and alarm management may be handled through a mobile appinstalled on mobile communication devices.

The workstation computer 402 represents one or more computers used atthe jobsite to monitor the devices 10 and to generate user interfacesfor a user to view and control device operation. The remote workstationcomputer 406 represents one or more computers used to remotely monitorthe devices 10 and to generate user interfaces, thus having the samefunctionality as workstation 402 but the computer 406 being locatedremote from the jobsite. The client/customer computer 404 represents oneor more computers of third parties, such as clients, who may wish toview operation of the device view the status of any leaks detected, andto generate correspondence with system users to instruct desired actionsto be taken in connection with detected leaks. The client/customercomputer 404 has limited system functionality in that it cannot be usedto generate operation commands for control of the device, thisfunctionality being reserved for authorized system users such as generalcontractors or building owner representatives.

The user computers 402, 404, and 406 may comprise general purposepersonal computers (including, merely by way of example, personalcomputers and/or laptop computers running various versions ofMicrosoft's Windows® and/or Apple® operating systems) and/or workstationcomputers running any of a variety of commercially-available LINUX®,UNIX® or LINUX®-like operating systems. These user computers 402, 404,and 4 s 06 may also have any of a variety of applications, including forexample, database client and/or server applications, and web browserapplications. Alternatively, the user computers 402, 404, and 406 may beany other electronic device, such as a thin-client computer,Internet-enabled mobile telephone, and/or personal digital assistant,capable of communicating via a network and/or displaying and navigatingweb pages or other types of electronic documents.

The system network 410 may be any type of network familiar to thoseskilled in the art that can support data communications using any of avariety of commercially-available protocols, including withoutlimitation TCP/IP, SNA, IPX, AppleTalk®, and the like. Merely by way ofexample, the communications network 410 maybe a local area network(“LAN”), such as an Ethernet network, a Token-Ring network and/or thelike; a wide-area network; a virtual network, including withoutlimitation a virtual private network (“VPN”); the Internet; an intranet;an extranet; a public switched telephone network (“PSTN”); an infra-rednetwork; a wireless network (e.g., a network operating under any of theIEEE 802.11 suite of protocols, the Bluetooth™ protocol known in theart, and/or any other wireless protocol); and/or any combination ofthese and/or other networks.

The workstation computer 402 may alternatively represent a servercomputer. One type of server may include a web server used to processrequests for web pages or other electronic documents from the mobiledevices 430 and computers 404 and 406. The web server can be running anoperating system including any of those discussed above, as well as anycommercially-available server operating systems. The web server can alsorun a variety of server applications, including HTTP servers, FTPservers, CGI servers, database servers, Java servers, and the like. Insome instances, the web server may publish operations available as oneor more web services.

The system 400 may also include one or more file and/or applicationservers, which can, in addition to an operating system, include one ormore applications accessible by a client running on one or more of theuser computers mobile devices 430 and computers 402 and 406. Thefile/application server(s) may be one or more general purpose computerscapable of executing programs or scripts in response to the mobiledevices 430 and user computers 402 and 406. As one example, the servermay execute one or more web applications. The web application may beimplemented as one or more scripts or programs written in anyprogramming language, such as Java®, C, C#™ or C++, and/or any scriptinglanguage, such as Perl, Python, or TCL, as well as combinations of anyprogramming/scripting languages. The application server(s) may alsoinclude database servers, including without limitation thosecommercially available from Oracle®, Microsoft, Sybase®, IBM® and thelike, which can process requests from database clients running on a usercomputer.

The system 400 may also include a database 408 for storing all dataassociated with running the apps from mobile devices 430 and running anyother computer programs associated with user interfaces provided to auser regarding the functions relating to operation and control of thedevice 10. The database 408, although shown being co-located with theworkstation 402, may reside in a variety of different locations. By wayof example, database 408 may reside on a storage medium local to (and/orresident in) one or more of the computers 402 and 406. Alternatively, itmay be remote from any or all of the computers 402 and 406 and network410, and in communication (e.g., via the network 410) with one or moreof these. In a particular set of embodiments, the database 408 mayreside in a storage-area network (“SAN”). Similarly, any necessary filesfor performing the functions attributed to the mobile devices 430 andcomputers 402, 404, and network 410 may be stored locally on therespective mobile device or computer and/or remotely, as appropriate.The database 408 may be a relational database, such as Oracle® database.

In accordance with any of the computers 402, 404, and 406, and alsoincluding the central computer 202, these may be generally described asgeneral-purpose computers with elements that cooperate to achievemultiple functions normally associated with general purpose computers.For example, the hardware elements may include one or more centralprocessing units (CPUs) for processing data. The computers 402, 404, and406 may further include one or more input devices (e.g., a mouse, akeyboard, etc.); and one or more output devices (e.g., a display device,a printer, etc.). The computers may also include one or more storagedevices. By way of example, storage device(s) may be disk drives,optical storage devices, solid-state storage device such as arandom-access memory (“RAM”) and/or a read-only memory (“ROM”), whichcan be programmable, flash-updateable and/or the like.

Further, each of the computers and servers described herein may includea computer-readable storage media reader; a communications peripheral(e.g., a modem, a network card (wireless or wired), an infra-redcommunication device, etc.); working memory, which may include RAM andROM devices as described above. The server may also include a processingacceleration unit, which can include a DSP, a special-purpose processorand/or the like.

The computer-readable storage media reader can further be connected to acomputer-readable storage medium, together (and, optionally, incombination with storage device(s)) comprehensively representing remote,local, fixed, and/or removable storage devices plus storage media fortemporarily and/or more permanently containing computer-readableinformation. The computers and serve permit data to be exchanged withthe network 410 and/or any other computer, server, or mobile device.

The computers also comprise various software elements and an operatingsystem and/or other programmable code such as program code implementinga web service connector or components of a web service connector. Itshould be appreciated that alternate embodiments of a computer may havenumerous variations from that described above. For example, customizedhardware might also be used and/or particular elements might beimplemented in hardware, software (including portable software, such asapplets), or both. Further, connection to other computing devices suchas network input/output devices may be employed.

It should also be appreciated that the methods described herein may beperformed by hardware components or may be embodied in sequences ofmachine-executable instructions, which may be used to cause a machine,such as a general-purpose or special-purpose processor or logic circuitsprogrammed with the instructions to perform the methods. Thesemachine-executable instructions may be stored on one or more machinereadable mediums, such as CD-ROMs or other type of optical disks, ROMs,RAMs, EPROMs, EEPROMs, magnetic or optical cards, flash memory, or othertypes of machine-readable mediums suitable for storing electronicinstructions. Alternatively, the methods may be performed by acombination of hardware and software.

The term “software” as used herein shall be broadly interpreted toinclude all information processed by a computer processor, amicrocontroller, or processed by related computer executed programscommunicating with the software. Software therefore includes computerprograms, libraries, and related non-executable data, such as onlinedocumentation or digital media. Executable code makes up definable partsof the software and is embodied in machine language instructionsreadable by a corresponding data processor such as a central processingunit of the computer. The software may be written in any knownprogramming language in which a selected programming language istranslated to machine language by a compile, interpreter or assemblerelement of the associated computer.

Considering the foregoing exemplary computer and communications networkand elements described herein, it may also be considered a softwareprogram or software platform with computer coded instructions thatenable execution of the functionality associated with the user interfaceof FIGS. 12-14 described herein. More specifically, the invention may beconsidered a software program or software platform that enablesmonitoring and detection of gas leaks at a jobsite. The software programor platform may further include recommended options for a user that areautomatically generated based on predetermined logic associated with thetype of gas leak encountered, where the leak occurred in the oil and gasfacility or other location where the robotic vehicles are deployed.

In connection with another embodiment of the invention, it may beconsidered a combined software and hardware system including (a) asoftware program or software platform with computer coded instructionsthat enable execution of the functionality associated with the userinterfaces of FIGS. 12-14 .

In connection with yet another embodiment of the invention, it may beconsidered a sub-combination including one or more user interfacesgenerated by the software.

FIG. 12 illustrates one example of a user interface or user screen 100viewable on a computer or mobile communication device. The purpose ofthe user interface is to enable an operator to view the status of arobotic vehicle during operation, and to issue or supplement commands tothe robotic vehicle so that it may most efficiently locate the source ofa gas leak. The vehicle is commanded via a touch-screen user interface,which may be viewed using any type of touch-screen device (tablet, smartphone, laptop computer, etc.). The user commands the vehicle by setting“waypoints” on the jobsite; this is accomplished by pressing and holdinga selected location on the virtual map displayed on the screen. Awaypoint is created at the location pressed by the user, and anavigation path between the robot's current location and the waypoint isautomatically calculated by the software. This navigation path isupdated in real-time using input sensor data from thepreviously-described navigation sensors aboard the robot. Multiplewaypoints may be created in the same manner and connected by paths basedon the order they were created; they may also be re-ordered using thetouch-screen interface to control the order in which the robot visitsthem. The robot may also be commanded to drive through/scan an area bydrawing a polygon with a stylus or the user's finger on the touchscreen; polygons are created by setting 3 or more waypoints, connectingthem with a path, then selecting “area survey” in the control interface.Once all of the waypoints or polygons are defined on the virtual map,they are automatically uploaded to the robot and the user may select“Go” to command the robot to begin driving it's pre-programmed course.The robot will continue to navigate between waypoints, adjusting itscourse as new input is received from the navigation sensors, until iteither reaches the final waypoint/edge of polygon or is commanded to“Stop” by the user. A virtual map 102 is viewable and which represents alayout of a particular job site where the robotic vehicle is operating.The movement or path of the robotic vehicle in this virtual map isdesignated by dashed lines. Infrastructure located at the job site ispresented to the user as viewing the infrastructure from a view abovethe vehicle. One or more points 103 may be highlighted on the virtualmap as corresponding to the location of a presumptive leak or a locationof interest where gas concentration readings reach a threshold magnitudeindicating a leak is likely in close proximity. The generated map couldbe one that is produced by the robotic vehicle, or a map that has beenpre-generated by system software. The provision of the virtual mapassists an operator in understanding the movements of the roboticvehicle and the significance of the various paths taken by the vehicleto find the source of the leak. A sensor output 104 may also be viewableon the user screen 100. The sensor output as shown is in graphical formin which the vertical axis could represent gas concentration while thehorizontal axis could represent time or location. The sensor output 104is intended to display real-time data received from the optical mappingcamera or other sensors. The ability to view sensor outputs is alsovaluable in providing an operator the past or present status of thevehicle during search and exploration. Power consumption readings 106are also illustrated in which power consumption pulls over designatedtimes also assist in operator confirming normal or expected operation ofthe various vehicle components. Excess consumption or less than normalpower consumption may indicate a mechanical or electrical failure of oneof the components. A video image 108 is also provided on the userinterface that allows an operator to view where the robotic vehicle isat that moment and also assists the operator in determining where a leakmay be occurring by the presence of visibly damaged piping or equipment.The video feed/image 108 can be overlaid with additional data, such asvisualization of the sensor data or visualization of the navigationdata. For sensor data, this can be displayed as an overlaid methaneplume that covers an area of the image. Navigation data could includehazards identified by the central computer or predesignated hazards. Theview provided on video image 108 can be generated, for example, by thefront or rear depth cameras 224/226. Also a. On the video image is adate/time stamp, latitude and longitude coordinates, and a real-timespeed of the vehicle at the moment the image was taken. An operator mayselect the robotic vehicle mode of operation, either the search mode(the mode conducted when searching for the source of the leak) or theexpiration mode (the mode conducted when fortifying gathering data on aspecific leak). A vehicle status 112 is provided which shows therepresentation of a vehicle and vehicle parameters at that time. Vehicleparameters could include the roll and pitch and motor statuses andcommands (such as real-time pulsed width modulated (PWM) signals to eachmotor). The vehicle status 112 may also highlight any faults detected bychanging the color of the faulted component/subsystem of the depictedvehicle. A battery status meter 114 shows the remaining batterycapacity, such as in the illustrated bar graph format. Selection bar 116allows the user to select a desired overlay, such as a navigationoverlay, a source detection overlay, or no overlay.

FIG. 13 illustrates another user interface 120 which provides detailedinformation on sensor data and ambient environmental conditions. Thisinterface 120 provides the operator with a button 122 to select thedetailed sensor data (FIG. 13 ), detailed location data 124 (FIG. 14 )or some other selected data 126. The sensor data provided in FIG. 13 isin a table form 132 including both sensor data and ambient environmentalcondition data. The sensors listed maybe those specific sensors aboardone or more robotic vehicles at a particular job site. The vehiclecolumn indicates the number of vehicles present with the correspondingsensors. One of the vehicles also has functionality for measuring windspeed and wind direction, such as an onboard anemometer. Theinstantaneous column indicates that the sensor readings being viewed arereal-time sensor readings of. The minute average column indicates theoutput of selected sensors, averaged over a designated period of time.It is often useful to identify leak rates which can be quantified bymeasuring the minute average leak. The hour average column indicates theoutput of selected sensors, averaged over an hour. This hour averagereading can be useful to also identify leak rates and to discarderroneous instantaneous readings or erroneous minute average leaks. Theunits column indicates the unit of measurement such as parts per millionwhich would be appropriate for measuring methane leaks or other gasleaks such as carbon monoxide (CO) or volatile organic compounds (VOC).The unit of measurement for the presence of particulate matter(particulate matter 2.5 micron (PM 2.5)) is shown as ug/m³. Wind speedis measured at meters per second and wind direction is measured inangular degrees. The status column indicates the present status of themonitored item. In the example, a leak is detected for methane. Fortotal VOC and CO, the “active” indication means that the robotic vehicleis presently searching for the contaminant and has yet to locate itssource. The particular matter sensor indicates that it has a fault,which could be a self-reporting error from the vehicle. For the windspeed and wind direction, the leak detected indication means that windspeed and wind direction at the time do not override the conclusion of adetected leak. In the event of high winds, leaks may be more difficultto find. An indication of high wind speeds in the status columnindicates that leak maybe unreliable at that time. The plot data button128 allows the user to view another user interface (not shown) thatproduces instantaneous, minute averaged, and our averaged sensor data ina graphical format, similar to the graphical format illustrated forsensor output 104. Any or all of the user interface screens may includenavigational buttons, such as button 130 which returns the user to ahome screen.

FIG. 14 illustrates another user interface 140 which provides detailedinformation on a selected location 124 including the robotic vehiclespresent, the status of the sensors and leak detection at the location.In this view, a site map 142 of the location as well as robotic vehiclepresent at the location are shown on the map. The site map 142 is shownlarger in this view allowing the user to see more detail within the mapand the specific locations of the robotic vehicles. A source locationindicator 143 is shown which represents the exact location of the sourceof a detected leak. In this example, vehicles 1, 2 and 3 have alldetected the leak marked by the source indicator 143 and each is vehicleis directed on a path to approach and explore the detected leak. A table144 is also provided to show the robotic vehicles in operation, theparticular site where the vehicle are located, and the status of leakdetection operation. Multiple robotic vehicles may be stationed thatmultiple jobsites. The user may click on the vehicle number to produceanother user interface (not shown) that shows the particular sensorsaboard that vehicle, the sensor data associated with the onboardsensors, and the real-time video feed produced from that vehicle.Similarly, the user may click on the site number to view the roboticvehicles stationed at the site, the enlarged site map, and the locationsof any leaks detected at that site. The status column in table 144 issimilar to the status column in FIG. 13 in that this column shows thepresent status of the vehicle. As illustrated, vehicles 1, 2, 3 havepresently detected a leak. Vehicles 4, 7 and 8 are in the search mode.Vehicles 5, 9 and 10 are presently idle. Vehicle 6 shows a faultcondition.

One should be able to appreciate that the user interfaces of FIGS. 12-14provide robust user interface capabilities which enable all stakeholdersto monitor real-time and historical data and system information.

The robotic vehicles of the invention may operate in a variety ofsettings where methane leaks may be present. Many of these locations arerelated to oil and gas installations such as production wells, storagetanks, pipelines, and urban distribution networks. However, theselocations are simply exemplary and the robotic vehicle of the inventioncan be used at any location where there may be a gas leak.

Because of the autonomous capabilities of the robotic vehicle, thevehicle can be used to replace personnel patrolling a site or existingmethane sensor systems that may not be capable of pinpointing the sourceof the leak. The robotic vehicle is mobile and can actuate leak sourcedetection vertically by use of the extendable mast. Therefore, becauseof the nearly limitless horizontal and vertical sensor capabilities,this enables a robotic vehicle to pinpoint sources of gas leaks quicklyand with extreme accuracy. Static/stationary sensors installed at somelocations simply cannot pinpoint the source of the leak which stillrequires the use of personnel to patrol the locations.

While the invention is set forth herein in multiple preferredembodiments, it should be understood that the invention is not strictlylimited to these preferred embodiments. The breadth of the inventionshould therefore be considered commensurate with the scope of the claimsappended hereto.

What is claimed is:
 1. A robotic vehicle for detecting a source ofinterest, comprising: a vehicle frame; electric drive motors mounted tothe vehicle frame; wheels connected to drive shafts of the drive motors;motor controllers communicating with the drive motors to selectivelycontrol rotational movement of the wheels; an extendable and retractablemast assembly mounted to the frame, the mast assembly including a mastbase and a mast; a source detection sensor positioned at an upper end ofthe mast; a central computer secured within the vehicle for controllingautonomous operation of the vehicle, said central computer including atleast one processor for executing programming tasks and at least onememory element for storing data; a first software application integralwith said central computer for receiving data and for executing commandsto control the vehicle through a processor of said central computer,said data including navigational data, sensor data, environmental data,and user defined data; and at least one navigational camera mounted tothe vehicle for providing visual images of an environment in which thevehicle operates.
 2. The robotic vehicle of claim 1, further including:an external network gateway communicating with the central computer tofacilitate flow of data between communication networks associated withthe vehicle.
 3. The robotic vehicle of claim 1, further including: anRTK GPS unit communicating with the central computer to facilitatedetermining a location of the vehicle through a GPS link.
 4. The roboticvehicle of claim 1, further including: an IMU unit integral with thecentral computer to establish a spatial orientation of the vehicleduring operation.
 5. The robotic vehicle of claim 1, further including:a GPU communicating with the central computer to manage graphicsrendering tasks associated with display of selected data and visualimages to a remote display device.
 6. The robotic vehicle of claim 1,wherein: said navigational camera includes at least one of a monocularcamera, a stereoscopic camera, or a combination thereof.
 7. The roboticvehicle of claim 1, further including: a pan/tilt mechanism secured tothe upper end of the mast adjacent the gas detection sensor, saidpan/tilt mechanism being operated to control tilt and rotation of saidgas detection sensor via electronic commands.
 8. The robotic vehicle ofclaim 1, wherein: said gas detection sensor is an optical camera.
 9. Therobotic vehicle of claim 8, wherein said optical camera is an infraredcamera.
 10. The robotic vehicle of claim 1, wherein: said centralcomputer includes a central processing unit that executes a plurality offunctions associated with operation of said robotic vehicle, saidplurality of functions including; (a) state estimation facilitated by alinear quadratic estimation algorithm used to fuse data from differentsensor sources to create an accurate prediction of where said roboticvehicle is located and how said vehicle is moving; (b) at least onesource detection and navigation/integration algorithm used for locatingand pinpointing a source of a gas leak; (c) path planning logicassociated with defining a path of travel of said robotic vehicle in athree-dimensional environment; and (d) a robot controller function usedto parse computer coded path instructions and translating them tocommands that can be used by said motor controllers.
 11. A system fordetecting a source of a gas leak, comprising: a robotic vehicle fordetecting a source of a gas leak, said robotic vehicle including: (a) anextendable and retractable mast assembly mounted to the robotic vehicle,the mast assembly including a mast base and a mast; (b) a gas detectionsensor positioned at an upper end of the mast; (c) a central computersecured within the robotic vehicle for controlling autonomous operationof the vehicle, said central computer including at least one processorfor executing programming tasks and at least one memory element forstoring data; an external network gateway communicating with the centralcomputer to facilitate flow of data between communication networksassociated with the vehicle; a first software application integral withsaid central computer for receiving data and for executing commands tocontrol the vehicle through a processor of said central computer, saiddata including navigational data, sensor data, environmental data, anduser defined data; an external network gateway communicating with thecentral computer to facilitate flow of data between one or morecommunication networks associated with the vehicle; a second softwareapplication communicating with said robotic vehicle to receive data,display data, and to selectively transfer data to one or more remotecomputing or communication devices within a communications network ofsaid one more communication networks, said second software applicationcomprising a plurality of user interfaces for displaying said dataassociated with operational functions of said robotic vehicle includingrecorded data for detected gas concentrations and locations where saidgas concentrations were detected; and at least one of a mobilecommunication device or remote computer that runs said second softwareapplication wherein the remote display device is incorporated in saidmobile communication device or remote computer and wherein at least oneuser interface is generated on the remote display device that displayssaid recorded data for detected gas concentrations and said locationswhere said gas concentrations were detected.
 12. The system of claim 11wherein: said robotic vehicle further includes a vehicle frame, electricdrive motors mounted to the vehicle frame, wheels connected to driveshafts of the drive motors, motor controllers communicating with thedrive motors to selectively control rotational movement of the wheels,and at least one navigational camera mounted to the vehicle forproviding visual images of an environment in which the vehicle operates.13. The system of claim 11 wherein said robotic vehicle furtherincludes: an external network gateway communicating with the centralcomputer to facilitate flow of data between communication networksassociated with the vehicle.
 14. The system of claim 11 wherein saidrobotic vehicle further includes: an RTK GPS unit communicating with thecentral computer to facilitate determining a location of the vehiclethrough a GPS link.
 15. The system of claim 11 wherein said roboticvehicle further includes: an IMU unit integral with the central computerto establish a spatial orientation of the vehicle during operation. 16.The system of claim 11 wherein said robotic vehicle further includes: aGPU communicating with the central computer to accelerate navigationlocalization and mapping and support the training and deployment ofneural models.
 17. The system of claim 11, wherein: said centralcomputer includes a central processing unit that executes a plurality offunctions associated with operation of said robotic vehicle, saidplurality of functions including; (a) state estimation facilitated by alinear quadratic estimation algorithm used to fuse data from differentsensor sources to create an accurate prediction of where said roboticvehicle is located and how said vehicle is moving; (b) at least onesource detection and navigation/integration algorithm used for locatingand pinpointing a source of a gas leak; (c) path planning logicassociated with defining a path of travel of said robotic vehicle in athree-dimensional environment; and (d) a robot controller function usedto parse computer coded path instructions and translating them tocommands that can be used by said motor controllers.
 18. A method fordetecting a source of a gas leak, comprising: providing a roboticvehicle including: an extendable and retractable mast assembly mountedto the robotic vehicle, a gas detection sensor positioned at an upperend of the mast, and a central computer secured within the roboticvehicle for controlling autonomous operation of the vehicle, saidcentral computer including at least one processor for executingprogramming tasks and at least one memory element for storing data;positioning the robotic vehicle at a jobsite where a gas leak issuspected; generating commands for the robot to commence movement at thejobsite, said commands being processed by said central computer toactuate electric motors of said robotic to move said vehicle toward adetected leak, said commands being generated from a source detectionalgorithm based on a gradient descent model, wherein said commandscontinually refine a position of the robotic vehicle so that it moves toan area of high probability of increased gas concentration;predetermining a path of travel for said robotic vehicle based oninitial gas concentrations detected by said gas detection sensor; movingsaid robotic vehicle along said predetermined path in a first searchmode; selectively raising and lowering said mast assembly to obtainsensor readings at different heights as said robotic vehicle travels andwhen said robotic vehicle comes to a stop; determining, by said centralcomputer, whether said sensor readings satisfy one or more conditionsindicating a likelihood of a detected leak near or at a present locationof the robotic vehicle where sensor readings are taken; determining, bysaid central computer, when said conditions are satisfied to thenoperate said robotic vehicle in an exploration mode; operating saidvehicle in said exploration mode to determine when goal conditions aremet, said goal conditions defined as data recorded in an area where saidgradient descent model indicates the presence of a higher concentrationof gas; and confirming the source of the leak is found by iterativeexecutions of said gradient descent model that are stable.
 19. Themethod of claim 18, wherein: said central computer includes a centralprocessing unit that executes a plurality of functions associated withoperation of said robotic vehicle, said plurality of functionsincluding; (a) state estimation facilitated by a linear quadraticestimation algorithm used to fuse data from different sensor sources tocreate an accurate prediction of where said robotic vehicle is locatedand how said vehicle is moving; (b) path planning logic associated withdefining a path of travel of said robotic vehicle in a three-dimensionalenvironment; and (c) a robot controller function used to parse computercoded path instructions and translating them to commands that can beused by said motor controllers.
 20. The method of claim 18, furtherincluding: executing a user interface software application communicatingwith said robotic vehicle to receive data, display data, and toselectively transfer data to one or more remote computing orcommunication devices within a communications network, said userinterface software application comprising a plurality of user interfacesfor displaying data associated with operational functions of saidrobotic vehicle including recorded data for detected gas concentrationsand locations where said gas concentrations were detected.